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Fix MAVLink app teardown with mavlink stop-all command

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Lorenz Meier
2016-03-25 15:20:32 +01:00
parent c385d5e32b
commit 6d42595c79
3 changed files with 13 additions and 15 deletions
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10
src/modules/mavlink/mavlink_main.cpp
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@@ -1629,7 +1629,7 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_update_system();
/* start the MAVLink receiver */
_receive_thread = MavlinkReceiver::receive_start(this);
MavlinkReceiver::receive_start(&_receive_thread, this);
MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
uint64_t param_time = 0;
@@ -1988,6 +1988,9 @@ Mavlink::task_main(int argc, char *argv[])
_task_running = true;
}
/* first wait for threads to complete before tearing down anything */
pthread_join(_receive_thread, NULL);
delete _subscribe_to_stream;
_subscribe_to_stream = nullptr;
@@ -2015,10 +2018,7 @@ Mavlink::task_main(int argc, char *argv[])
_subscriptions = nullptr;
/* wait for threads to complete */
pthread_join(_receive_thread, NULL);
if (_uart_fd >= 0) {
if (_uart_fd >= 0 && !_is_usb_uart) {
/* reset the UART flags to original state */
tcsetattr(_uart_fd, TCSANOW, &uart_config_original);